The Yeti is 158 mm higher, however the bulk of the mass is really down where the engine and drive is, which would be little different. As for roadholding, again, overall height and centre of gravity are just two parts to it. You would probably be hard pressed to find that much of a difference in general use. I went from a Torana to a Hiace SBV and now have a Caddy Maxi Life. In general use, there was little between them, and the Hiace was definitely no slouch.
No matter what vehicle you have parking just takes getting used to.
Space appears to be important to you, so take a tape measure along with you and measure the space in the various configurations.
It is a "boxy" design but then that generally does give you the most usable space. On looks, you only have to look at a Yeti beside a Toyota Ruckus and a couple of other and the Yeti starts looking quite good!! There seems to be a cubist revolution going on.
I don't know if you have seen the show Drive It! from DW TV? It is actually a very good show if a little "German". One thing they do when comparing load space in cars and vans is to use bottled water crates. This is where the usable space shows up compared to the manufacturer's claimed load space. Of course the more boxy the design will generally see you get more in it. Again, this is where the tape measure comes in.
For me, it would be the Yeti, but it comes down to a personal choice. After all, you have to live with it. You have to be a little remote from things. Set out what is important to you and compare that. Only then look at the other aspects. No point in the flashiest looking one if it can't do what you want it to do, and no point in getting something that is not pleasing to your eye when you can get something that meets all your key needs but has been take to with the ugly stick.
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